• 센서학회지
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• 제3권2호
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• pp.50-56
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• 1994

살충제와 농약의 성분인 유기인 화합물 측정을 위한 광섬유 바이오센서가 개발되었다. 개발된 광섬유 바이오센서에서는 유기인 화합물에 의해 직접적으로 저해되는 AChE효소 (acetylcholinesterase)의 반응이 용액 pH의 변화를 일으킨다는 원리를 이용하여 그 변화를 광을 이용하여 측정함으로써 유기인 화합물을 측정하였다. pH 변화 정도를 광을 이용하여 측정하기 위해서 사용되어진 효소의 반응과 광원에 알맞은 산-염기 지시약인 리트머스를 선택하였다. 장시간 사용 시에도 활성을 유지시키고 재사용을 가능하게 하기 위하여 AChE효소는 Ca-alginate gel에 포괄시켜 센서의 반응기 내벽에 고정화시켰다. 장치를 소형화하고 원격 측정이 가능하게 하기 위하여 광섬유를 사용하여 빛을 전송하였다. 광원으로써는 생성물의 영향을 받지 않는 632 nm의 파장을 갖는 He-Ne laser를 사용하였고, 광섬유는 가격이 저렴한 플라스틱 광섬유를 사용하였고, 광 수신 장치로는 phototransistor를 사용하였다. 본 연구에서 제안된 광섬유 바이오센서는 유기인 화합물의 농도에 대하여 0 ppm 에서 1.5 ppm까지 선형적인 신호를 가지고 있으며 측정 시간은 5분이었다.

• 한국지반신소재학회논문집
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• 제19권4호
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• pp.41-50
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• 2020

콘크리트 구조물의 균열은 장기간 지속 시 철근의 부식을 촉진시키므로 구조적 사용성을 보장하고 열화를 방지하기 위해 정기적인 현장 점검이 필수적이다. 대부분의 시설물 안전점검은 육안 검사에 의존하고 있어 비용과 시간 소모가 심하고 점검자에 따라 결과의 신뢰도 차이가 발생한다. 본 연구에서는 카메라로 촬영된 균열의 이미지 분석을 통해 콘크리트 균열의 폭과 길이를 측정하는 장치로서 안전진단 및 유지관리에 사용할 수 있는 휴대용 측정 장치를 개발하였다. 이 장치는 측정자가 육안으로 발견한 균열을 가까운 거리 (3m) 이내에서 촬영하고 레이저 거리측정으로 단위 픽셀크기를 정확히 산정하여, 본 연구에서 개발한 이미지 처리 알고리즘으로 균열 길이와 폭을 자동으로 산정할 수 있다. 측정결과 실험에 적용한 균열 이미지를 이용하여 3m 거리 이내에서 0.3mm 균열의 길이 측정은 약 10% 오차 범위에서 측정 가능하였다. 균열 폭의 경우 이진화 과정에서 진동 및 Blurring에 의한 주변픽셀을 검출해 과대평가되는 경향을 나타내었으나, 균열 폭 감소함수를 적용하여 효과적으로 보정할 수 있었다.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.676-681
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• 2013

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2009년도 추계학술대회 논문집
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• pp.130-130
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• 2009

This paper describes the temperature characteristics of polycrystalline 3C-SiC micro resonators. The 1.2 ${\mu}m$ and 0.4 ${\mu}m$ thick polycrystalline 3C-SiC cantilever and doubly clamped beam resonators with 60 ~ 100 ${\mu}m$ lengths were fabricated using a surface micromachining technique. Polycrystalline 3C-SiC micro resonators were actuated by piezoelectric element and their fundamental resonance was measured by a laser vibrometer in vacuum at temperature range of $25{\sim}200^{\circ}C$. The TCF(Temperature Coefficient of Frequency) of 60, 80 and 100 ${\mu}m$ long cantilever resonators were -9.79, -7.72 and -8.0 $ppm/^{\circ}C$. On the other hand, TCF of 60, 80 and 100 ${\mu}m$ long doubly clamped beam resonators were -15.74, -12.55 and -8.35 $ppm/^{\circ}C$. Therefore, polycrystalline 3C-SiC resonators are suitable with RF MEMS devices and bio/chemical sensor applications in harsh environments.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권2호
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• pp.610-630
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• 2020

A large number of people suffered from traffic accidents each year, so people pay more attention to traffic safety. However, the traditional methods use laser sensors to calculate the vehicle distance at a very high cost. In this paper, we propose a method based on deep learning to calculate the vehicle distance with a monocular camera. Our method is inexpensive and quite convenient to deploy on the mobile platforms. This paper makes two contributions. First, based on Light-Head RCNN, we propose a new vehicle detection framework called Light-Car Detection which can be used on the mobile platforms. Second, the planar homography of projective geometry is used to calculate the distance between the camera and the vehicles ahead. The results show that our detection system achieves 13FPS detection speed and 60.0% mAP on the Adreno 530 GPU of Samsung Galaxy S7, while only requires 7.1MB of storage space. Compared with the methods existed, the proposed method achieves a better performance.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.493-504
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• 2007

This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The proposed method extends the scope of the disparity histogram-based method to highway applications by 1) replacing the fixed rectangular ROI (Region Of Interest) with the traveling lane-based ROI, and 2) replacing the peak detection with a constant threshold with peak detection using the threshold-line and peakness evaluation. In order to increase the true positive rate while decreasing the false positive rate, multiple candidate peaks were generated and then verified by the edge feature correlation method. By testing the proposed method with images captured on the highway, it was shown that the proposed method was able to overcome problems in previous implementations while being applied successfully to highway collision warning/avoidance conditions, In addition, comparisons with laser radar showed that vision sensors with a wider FOV (Field Of View) provided faster responses to cutting-in vehicles. Finally, we integrated the proposed method into a longitudinal collision avoidance system. Experimental results showed that activated braking by risk assessment using the state of the ego-vehicle and measuring the distance to upcoming obstacles could successfully prevent collisions.

• 한국산학기술학회논문지
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• 제12권5호
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• pp.2360-2366
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• 2011

무인차량의 주행은 각종 센서를 이용한 차량제어시스템, 항법시스템, 장애물시스템, 통합시스템의 4가지 서브 시스템으로 구성 되어있다. 본 연구는 비접촉 거리측정 장치인 레이저스캐너를 이용하여 무인차량의 평행주차 및 직각주차 알고리즘 개발을 목적으로 하였다. 이 알고리즘을 검증하기 위하여 GPS와 차량에 6대의 레이저스캐너를 장착하여 이용하였고, 레이저스캐너를 이용한 위치 계산의 오차를 줄이기 위해 타이어 미끄러짐을 최소로 할 수 있도록 5km/h로 차량의 이동 속도를 제한하였다.

• 한국정밀공학회지
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• 제31권1호
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• pp.43-50
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• 2014

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.

• Transactions on Electrical and Electronic Materials
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• 제14권3호
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• pp.148-151
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• 2013

The control of Ga doping in ZnO nanowires (NWs) by physical vapor deposition has been implemented and characterized. Various Ga-doped ZnO NWs were grown using the vapor-liquid-solid (VLS) method, with Au catalyst on c-plane sapphire substrate by hot-walled pulsed laser deposition (HW-PLD), one of the physical vapor deposition methods. The structural, optical and electrical properties of Ga-doped ZnO NWs have been systematically analyzed, by changing Ga concentration in ZnO NWs. We observed stacking faults and different crystalline directions caused by increasing Ga concentration in ZnO NWs, using SEM and HR-TEM. A $D^0X$ peak in the PL spectra of Ga doped ZnO NWs that is sharper than that of pure ZnO NWs has been clearly observed, which indicated the substitution of Ga for Zn. The electrical properties of controlled Ga-doped ZnO NWs have been measured, and show that the conductance of ZnO NWs increased up to 3 wt% Ga doping. However, the conductance of 5 wt% Ga doped ZnO NWs decreased, because the mean free path was decreased, according to the increase of carrier concentration. This control of the structural, optical and electrical properties of ZnO NWs by doping, could provide the possibility of the fabrication of various nanowire based electronic devices, such as nano-FETs, nano-inverters, nano-logic circuits and customized nano-sensors.